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<h1>mindsensors-lightsensorarray.h</h1>  </div>
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<div class="contents">
<a href="mindsensors-lightsensorarray_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup msll LineLeader Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * LineLeader Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-lightsensorarray.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSLSA_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSLSA_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment"></span>
<a name="l00015"></a>00015 <span class="comment">/** \file mindsensors-lightsensorarray.h</span>
<a name="l00016"></a>00016 <span class="comment"> * \brief Mindsensors LigthSensorArray</span>
<a name="l00017"></a>00017 <span class="comment"> *</span>
<a name="l00018"></a>00018 <span class="comment"> * mindsensors-lightsensorarray.h provides an API for the Mindsensors LightSensorArray</span>
<a name="l00019"></a>00019 <span class="comment"> *</span>
<a name="l00020"></a>00020 <span class="comment"> * Changelog:</span>
<a name="l00021"></a>00021 <span class="comment"> *  - 0.1 Initial       release&lt;br&gt;</span>
<a name="l00022"></a>00022 <span class="comment"> *</span>
<a name="l00023"></a>00023 <span class="comment"> * License: You may use this code as you wish, provided you give credit where it&#39;s due.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00026"></a>00026 <span class="comment"></span>
<a name="l00027"></a>00027 <span class="comment"> * \author Xander Soldaat</span>
<a name="l00028"></a>00028 <span class="comment"> * \date 29 September 2012</span>
<a name="l00029"></a>00029 <span class="comment"> * \version 0.1</span>
<a name="l00030"></a>00030 <span class="comment"> * \example mindsensors-ligthsensorarray-test1.c</span>
<a name="l00031"></a>00031 <span class="comment"> * \example mindsensors-ligthsensorarray-test3.c</span>
<a name="l00032"></a>00032 <span class="comment"> */</span>
<a name="l00033"></a>00033 
<a name="l00034"></a>00034 <span class="preprocessor">#pragma systemFile</span>
<a name="l00035"></a>00035 <span class="preprocessor"></span>
<a name="l00036"></a>00036 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">        #include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#endif</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a><a class="code" href="group__msll.html#gae89663deaddbf9546dbea7ef507b7596">00040</a> <span class="preprocessor">#define MSLSA_I2C_ADDR                      0x14  </span><span class="comment">/*!&lt; I2C address used by the MSLSA */</span>
<a name="l00041"></a><a class="code" href="group__msll.html#gae6edf1014992937d32f100c54d2efde8">00041</a> <span class="preprocessor">#define MSLSA_CMD_REG                       0x41  </span><span class="comment">/*!&lt; Register used for issuing commands */</span>
<a name="l00042"></a>00042 
<a name="l00043"></a><a class="code" href="group__msll.html#ga83235f6d385e2ccba03c2ec87b1b5f97">00043</a> <span class="preprocessor">#define MSLSA_CALIBRATED        0x42  </span><span class="comment">/*!&lt; Calibrated Sensor reading */</span>
<a name="l00044"></a><a class="code" href="group__msll.html#ga8e1d100f324fefa865dbdf602dc0569a">00044</a> <span class="preprocessor">#define MSLSA_WHITE_LIMIT           0x4A  </span><span class="comment">/*!&lt; White Reading Limit */</span>
<a name="l00045"></a><a class="code" href="group__msll.html#ga852ee6c7439f830957e9b9d00ad02db7">00045</a> <span class="preprocessor">#define MSLSA_BLACK LIMIT         0x52  </span><span class="comment">/*!&lt; Black Reading Limit */</span>
<a name="l00046"></a><a class="code" href="group__msll.html#ga4ae89e697102fda39ba5c5dc6e1cd04d">00046</a> <span class="preprocessor">#define MSLSA_WHITE_CALIB_DATA  0x5A  </span><span class="comment">/*!&lt; White Calibration data */</span>
<a name="l00047"></a><a class="code" href="group__msll.html#ga568a03564d4b1fc7c709a9f6a4c655cf">00047</a> <span class="preprocessor">#define MSLSA_BLACK_CALIB_DATA  0x62  </span><span class="comment">/*!&lt; Black Calibration data */</span>
<a name="l00048"></a><a class="code" href="group__msll.html#gaeb334b8818af2627dd1400663d52b192">00048</a> <span class="preprocessor">#define MSLSA_UNCALIBRATED                0x6A  </span><span class="comment">/*!&lt; Uncalibrated sensor voltage  */</span>
<a name="l00049"></a>00049 
<a name="l00050"></a><a class="code" href="group__msll.html#ga39122440e3d8f04b98352ff4437623c7">00050</a> <span class="preprocessor">#define MSLSA_CMD_FREQ_US       &#39;A&#39;   </span><span class="comment">/*!&lt; American frequency compensation  */</span>
<a name="l00051"></a><a class="code" href="group__msll.html#ga5d43d7634b0a23cb5c6d705001f17e4d">00051</a> <span class="preprocessor">#define MSLSA_CMD_CALIB_BLACK   &#39;B&#39;   </span><span class="comment">/*!&lt; Calibrate black values  */</span>
<a name="l00052"></a><a class="code" href="group__msll.html#gaa293d37cfd093980cf4c9c0ecaff6ae2">00052</a> <span class="preprocessor">#define MSLSA_CMD_POWERDOWN     &#39;D&#39;   </span><span class="comment">/*!&lt; Power down the sensor array  */</span>
<a name="l00053"></a><a class="code" href="group__msll.html#gaac707184dab7c79b952e8c20ae649ad8">00053</a> <span class="preprocessor">#define MSLSA_CMD_FREQ_EU       &#39;E&#39;   </span><span class="comment">/*!&lt; European frequency compensation  */</span>
<a name="l00054"></a><a class="code" href="group__msll.html#gaf84b904de69a57e13449cd88d70e7640">00054</a> <span class="preprocessor">#define MSLSA_CMD_POWERUP       &#39;P&#39;   </span><span class="comment">/*!&lt; Power up the sensor array  */</span>
<a name="l00055"></a><a class="code" href="group__msll.html#gaf13db40153f7aa1ebf0816153c76173f">00055</a> <span class="preprocessor">#define MSLSA_CMD_FREQ_UNI      &#39;U&#39;   </span><span class="comment">/*!&lt; Universal frequency compensation (default) */</span>
<a name="l00056"></a><a class="code" href="group__msll.html#ga9dc597c7a0c15b1b92d83213602e2b85">00056</a> <span class="preprocessor">#define MSLDA_CMD_CALIB_WHITE   &#39;W&#39;   </span><span class="comment">/*!&lt; Calibrate white values  */</span>
<a name="l00057"></a>00057 
<a name="l00058"></a><a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">00058</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>;       <span class="comment">/*!&lt; Array to hold I2C command data */</span>
<a name="l00059"></a><a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">00059</a> <a class="code" href="group__common.html#gaa172ef131853460e5b9f5c6db81d30f4">tByteArray</a> <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>;         <span class="comment">/*!&lt; Array to hold I2C reply data */</span>
<a name="l00060"></a>00060 
<a name="l00061"></a><a class="code" href="group__msll.html#ga25d6edcc3425de2ee9abe86186a43a98">00061</a> <span class="preprocessor">#define MSLSAwakeUp(X)    _MSLSAsendCommand(X, MSLSA_CMD_POWERUP)     </span><span class="comment">/*!&lt; Wake sensor from sleep mode */</span>
<a name="l00062"></a><a class="code" href="group__msll.html#ga74088d3b3aa6be1ca0e2ee5b1d6d0157">00062</a> <span class="preprocessor">#define MSLSASleep(X)     _MSLSAsendCommand(X, MSLSA_CMD_POWERDOWN)   </span><span class="comment">/*!&lt; Put sensor into sleep mode */</span>
<a name="l00063"></a><a class="code" href="group__msll.html#ga7f53b8297f06d90b80945e5c1e4d7ccc">00063</a> <span class="preprocessor">#define MSLSAcalWhite(X)  _MSLSAsendCommand(X, MSLDA_CMD_CALIB_WHITE) </span><span class="comment">/*!&lt; Calibrate the white value */</span>
<a name="l00064"></a><a class="code" href="group__msll.html#ga27106d483a908de1a126fee132a52566">00064</a> <span class="preprocessor">#define MSLSAcalBlack(X)  _MSLSAsendCommand(X, MSLSA_CMD_CALIB_BLACK) </span><span class="comment">/*!&lt; Calibrate the black value */</span>
<a name="l00065"></a><a class="code" href="group__msll.html#ga00ff9edf1856da054967323bf56d0610">00065</a> <span class="preprocessor">#define MSLSAsetEU(X)     _MSLSAsendCommand(X, MSLSA_CMD_FREQ_EU)     </span><span class="comment">/*!&lt; Calibrate the black value */</span>
<a name="l00066"></a><a class="code" href="group__msll.html#ga7f235e66c11db9a4157af510ca67d0ad">00066</a> <span class="preprocessor">#define MSLSAsetUS(X)     _MSLSAsendCommand(X, MSLSA_CMD_FREQ_US)     </span><span class="comment">/*!&lt; Calibrate the black value */</span>
<a name="l00067"></a><a class="code" href="group__msll.html#ga6bd6d0e08d1209ff3ae55509c6813516">00067</a> <span class="preprocessor">#define MSLSAsetUni(X)    _MSLSAsendCommand(X, MSLSA_CMD_FREQ_UNI)    </span><span class="comment">/*!&lt; Calibrate the black value */</span>
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 
<a name="l00070"></a>00070 <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#ga23eeee592371dc2285d86e86e98dfb91">MSLSAreadSensors</a>(tSensors link, ubyte *values);
<a name="l00071"></a>00071 <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#ga18b78973f36c39c3d98200941c9bbe51">MSLSAreadRawSensors</a>(tSensors link, <span class="keywordtype">int</span> *values);
<a name="l00072"></a>00072 <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#gaf61714035d97be3f89bcce8f8c96e1ab">_MSLSAsendCommand</a>(tSensors link, ubyte cmd);                      <span class="comment">/*!&lt; Send a command to the LightSensorArray */</span>
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment">/**</span>
<a name="l00075"></a>00075 <span class="comment"> * This function sends a command to the lightsensorarray.</span>
<a name="l00076"></a>00076 <span class="comment"> *</span>
<a name="l00077"></a>00077 <span class="comment"> * Note: this is an internal function and should not be called directly.</span>
<a name="l00078"></a>00078 <span class="comment"> * @param link the sensor port number</span>
<a name="l00079"></a>00079 <span class="comment"> * @param cmd the command to be sent</span>
<a name="l00080"></a>00080 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment">PRELIMINARY COMMANDS FROM NXC LIB CODE</span>
<a name="l00083"></a>00083 <span class="comment"> - A American frequency compensation</span>
<a name="l00084"></a>00084 <span class="comment"> - B for black calibration</span>
<a name="l00085"></a>00085 <span class="comment"> - D sensor power down</span>
<a name="l00086"></a>00086 <span class="comment"> - E European frequency compensation</span>
<a name="l00087"></a>00087 <span class="comment"> - P power on sensor</span>
<a name="l00088"></a>00088 <span class="comment"> - U Universal frequency compensation (default)</span>
<a name="l00089"></a>00089 <span class="comment"> - W White balance</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="group__msll.html#gaf61714035d97be3f89bcce8f8c96e1ab">00091</a> <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#gaf61714035d97be3f89bcce8f8c96e1ab">_MSLSAsendCommand</a>(tSensors link, ubyte cmd) {
<a name="l00092"></a>00092   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[0] = 3;             <span class="comment">// Message size</span>
<a name="l00093"></a>00093   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[1] = <a class="code" href="group__msll.html#gae89663deaddbf9546dbea7ef507b7596">MSLSA_I2C_ADDR</a>;   <span class="comment">// I2C Address</span>
<a name="l00094"></a>00094   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[2] = <a class="code" href="group__msll.html#gae6edf1014992937d32f100c54d2efde8">MSLSA_CMD_REG</a>;    <span class="comment">// Register used for issuing commands</span>
<a name="l00095"></a>00095   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[3] = cmd;           <span class="comment">// Command to be executed</span>
<a name="l00096"></a>00096 
<a name="l00097"></a>00097   <span class="keywordflow">return</span> <a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>);
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099 
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment">/**</span>
<a name="l00102"></a>00102 <span class="comment"> * Return the calibrated values from the sensors</span>
<a name="l00103"></a>00103 <span class="comment"> * @param link the Mindsensors LightSensorArray port number</span>
<a name="l00104"></a>00104 <span class="comment"> * @param values pointer to unsigned byte array to hold the sensor values</span>
<a name="l00105"></a>00105 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a><a class="code" href="group__msll.html#ga23eeee592371dc2285d86e86e98dfb91">00107</a> <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#ga23eeee592371dc2285d86e86e98dfb91">MSLSAreadSensors</a>(tSensors link, ubyte *values)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[0] = 2;
<a name="l00110"></a>00110   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[1] = <a class="code" href="group__msll.html#gae89663deaddbf9546dbea7ef507b7596">MSLSA_I2C_ADDR</a>;
<a name="l00111"></a>00111   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[2] = <a class="code" href="group__msll.html#ga83235f6d385e2ccba03c2ec87b1b5f97">MSLSA_CALIBRATED</a>;
<a name="l00112"></a>00112 
<a name="l00113"></a>00113   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>, <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>, 8))
<a name="l00114"></a>00114     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00115"></a>00115 
<a name="l00116"></a>00116   <span class="comment">// clear out the old values</span>
<a name="l00117"></a>00117   memset(values, 0, <span class="keyword">sizeof</span>(values));
<a name="l00118"></a>00118 
<a name="l00119"></a>00119   <span class="comment">// copy the new values (first 8 bytes)</span>
<a name="l00120"></a>00120   memcpy(values, <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>, 8);
<a name="l00121"></a>00121 
<a name="l00122"></a>00122   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment">/**</span>
<a name="l00127"></a>00127 <span class="comment"> * Return the uncalibrated values from the sensors</span>
<a name="l00128"></a>00128 <span class="comment"> * @param link the Mindsensors LightSensorArray port number</span>
<a name="l00129"></a>00129 <span class="comment"> * @param values pointer to integer array to hold the uncalibrated sensor values</span>
<a name="l00130"></a>00130 <span class="comment"> * @return true if no error occured, false if it did</span>
<a name="l00131"></a>00131 <span class="comment"> */</span>
<a name="l00132"></a><a class="code" href="group__msll.html#ga18b78973f36c39c3d98200941c9bbe51">00132</a> <span class="keywordtype">bool</span> <a class="code" href="group__msll.html#ga18b78973f36c39c3d98200941c9bbe51">MSLSAreadRawSensors</a>(tSensors link, <span class="keywordtype">int</span> *values)
<a name="l00133"></a>00133 {
<a name="l00134"></a>00134   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[0] = 2;
<a name="l00135"></a>00135   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[1] = <a class="code" href="group__msll.html#gae89663deaddbf9546dbea7ef507b7596">MSLSA_I2C_ADDR</a>;
<a name="l00136"></a>00136   <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>[2] = <a class="code" href="group__msll.html#gaeb334b8818af2627dd1400663d52b192">MSLSA_UNCALIBRATED</a>;
<a name="l00137"></a>00137 
<a name="l00138"></a>00138   <span class="keywordflow">if</span> (!<a class="code" href="group__common.html#gad02e06f83b264ee6fc7df41eb4712080">writeI2C</a>(link, <a class="code" href="group__msll.html#ga8867a116b6793a996bbc787d1c6003fd">MSLSA_I2CRequest</a>, <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>, 16))
<a name="l00139"></a>00139     <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00140"></a>00140 
<a name="l00141"></a>00141   <span class="comment">// clear out the old values</span>
<a name="l00142"></a>00142   memset(values, 0, <span class="keyword">sizeof</span>(values));
<a name="l00143"></a>00143 
<a name="l00144"></a>00144   <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; i++)
<a name="l00145"></a>00145   {
<a name="l00146"></a>00146     values[i] = <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>[i * 2] + (<a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>[(i * 2) + 1] &lt;&lt; 8);
<a name="l00147"></a>00147   }
<a name="l00148"></a>00148 
<a name="l00149"></a>00149   <span class="comment">// copy the new values (first 8 bytes)</span>
<a name="l00150"></a>00150   memcpy(values, <a class="code" href="group__msll.html#ga109536bf6e085ae6e7980771e3054526">MSLSA_I2CReply</a>, 8);
<a name="l00151"></a>00151 
<a name="l00152"></a>00152   <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154 
<a name="l00155"></a>00155 <span class="preprocessor">#endif // __MSLSA_H__</span>
<a name="l00156"></a>00156 <span class="preprocessor"></span>
<a name="l00157"></a>00157 <span class="comment">/*</span>
<a name="l00158"></a>00158 <span class="comment"> * $Id: mindsensors-lightsensorarray.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00159"></a>00159 <span class="comment"> */</span>
<a name="l00160"></a>00160 <span class="comment">/* @} */</span>
<a name="l00161"></a>00161 <span class="comment">/* @} */</span>
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